A nonlinear reduced-order state observer for nonholonomic wheeled mobile robots

被引：0

作者：

He Gang ^{[1
]}

Ma Bao-li ^{[1
]}

机构：

[1] Beijing Univ Aeronaut & Astronaut, Res Div 7, Beijing 100083, Peoples R China

来源：

PROCEEDINGS OF 2006 CHINESE CONTROL AND DECISION CONFERENCE | 2006年

关键词：

state observer; mobile robots; nonholonomic systems;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A state. equation in new state variables is derived for nonholonomic wheeled mobile robots, and an nonlinear reduced-order state observer is designed. The conditions for the proposed state observer to be stable, asymptotical stable and exponential stable are given via theoretical analysis. The proposed state observer has lower order, larger stability region, and faster convergence rate than the previous ones. Simulation results verify the effectiveness of the proposed state observer.

引用

页码：1301 / 1304

页数：4

共 6 条

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[2] ISHIKAWA M, 1995, IEEE INT CONF ROBOT, P1379, DOI 10.1109/ROBOT.1995.525470
[3] Lefeber E, 2001, IEEE INT CONF ROBOT, P2084, DOI 10.1109/ROBOT.2001.932914
[4] MEDROMI H, 1994, P IEEE INT C MULT FU, P661
[5] Stotsky A, 1997, IEEE DECIS CONTR P, P3648, DOI 10.1109/CDC.1997.652422
[6] Stabilization of nonholonomic systems in chained form: Application to a car-like mobile robot
Tayebi, A
Tadjine, M
Rachid, A
[J]. PROCEEDINGS OF THE 1997 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS, 1997, : 195 - 200

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